cartographer/cartographer/common/ceres_solver_options.cc

46 lines
1.6 KiB
C++

/*
* Copyright 2016 The Cartographer Authors
*
* Licensed under the Apache License, Version 2.0 (the "License");
* you may not use this file except in compliance with the License.
* You may obtain a copy of the License at
*
* http://www.apache.org/licenses/LICENSE-2.0
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*/
#include "cartographer/common/ceres_solver_options.h"
namespace cartographer {
namespace common {
proto::CeresSolverOptions CreateCeresSolverOptionsProto(
common::LuaParameterDictionary* parameter_dictionary) {
proto::CeresSolverOptions proto;
proto.set_use_nonmonotonic_steps(
parameter_dictionary->GetBool("use_nonmonotonic_steps"));
proto.set_max_num_iterations(
parameter_dictionary->GetNonNegativeInt("max_num_iterations"));
proto.set_num_threads(parameter_dictionary->GetNonNegativeInt("num_threads"));
CHECK_GT(proto.max_num_iterations(), 0);
CHECK_GT(proto.num_threads(), 0);
return proto;
}
ceres::Solver::Options CreateCeresSolverOptions(
const proto::CeresSolverOptions& proto) {
ceres::Solver::Options options;
options.use_nonmonotonic_steps = proto.use_nonmonotonic_steps();
options.max_num_iterations = proto.max_num_iterations();
options.num_threads = proto.num_threads();
return options;
}
} // namespace common
} // namespace cartographer